| tags: | |
| - lerobot | |
| - robotics | |
| - aloha | |
| - simulation | |
| - gym_aloha | |
| - transfer_cube | |
| task_categories: | |
| - robotics | |
| size_categories: | |
| - 1K<n<10K | |
| # ALOHA Simulation Dataset - Transfer Cube | |
| This dataset was collected from the gym_aloha simulation environment. | |
| ## Dataset Description | |
| - **Environment**: gym_aloha/AlohaTransferCube-v0 | |
| - **Task**: Transfer cube from one location to another | |
| - **Episodes**: 10 | |
| - **FPS**: 50 | |
| - **Total Frames**: 3000 | |
| ## Features | |
| - `observation.image`: RGB image from top camera (480x640x3) | |
| - `observation.state`: Robot joint positions (14 dimensions) | |
| - `action`: Robot actions (14 dimensions) | |
| - `episode_index`: Episode number | |
| - `frame_index`: Frame number within episode | |
| - `timestamp`: Time in seconds | |
| ## Robot Configuration | |
| The ALOHA robot has 14 degrees of freedom: | |
| - Left arm: 6 joints + 1 gripper | |
| - Right arm: 6 joints + 1 gripper | |
| ## Usage | |
| ```python | |
| from datasets import load_dataset | |
| dataset = load_dataset("nock0912/aloha_sim_cube_dataset") | |
| print(dataset) | |
| ``` | |
| ## Citation | |
| If you use this dataset, please cite the LeRobot project. | |